kornia.geometry.ransac

Module with RANSAC

class kornia.geometry.ransac.RANSAC(model_type='homography', inl_th=2.0, batch_size=2048, max_iter=10, confidence=0.99, max_lo_iters=5)[source]

Module for robust geometry estimation with RANSAC.

https://en.wikipedia.org/wiki/Random_sample_consensus

Parameters

  • model_type (str, optional) – type of model to estimate, e.g. “homography” or “fundamental”. Default: 'homography'

  • inliers_threshold – threshold for the correspondence to be an inlier.

  • batch_size (int, optional) – number of generated samples at once. Default: 2048

  • max_iterations – maximum batches to generate. Actual number of models to try is batch_size * max_iterations.

  • confidence (float, optional) – desired confidence of the result, used for the early stopping. Default: 0.99

  • max_local_iterations – number of local optimization (polishing) iterations.

forward(kp1, kp2, weights=None)[source]

Main forward method to execute the RANSAC algorithm.

Parameters

  • kp1 (torch.Tensor) – source image keypoints \((N, 2)\).

  • kp2 (torch.Tensor) – distance image keypoints \((N, 2)\).

  • weights (torch.Tensor) – optional correspondences weights. Not used now Default: None

Return type

Tuple[Tensor, Tensor]

Returns

  • Estimated model, shape of \((1, 3, 3)\).

  • The inlier/outlier mask, shape of \((1, N)\), where N is number of input correspondences.